机器人关节空间Bezier曲线轨迹优化设计

摘要

为使机器人轨迹便于分段处理，更好地用于实时控制，本文首次使用Bezier曲线进行机器人轨迹规划；建立了机器人Bezier轨迹时间最短优化模型，该优化模型包括关节角速度、加速度、加加速度及力矩四种约束；给出了优化计算方法。为说明本方法，文未给出了PUMA 560机器人前三铰Bezier轨迹优化算例。%Bezier functions is applied to path planning for robot in joint coordinates in order to handle path segmentally and be used in real-time control. Besides, the optimal model on time-minimal Bezier path planning for robot is presented. The physical constraints on joint trajectory velocity, acceleration, jeak and torques are considered in this model. The optimization algorithm is proposed. Finally an example on Bezier path optimization for PUMA560 robot pre-3 joint is presented for illustration.